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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::ApproximateVoxelGrid&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_approximate_voxel_grid.html" title="ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the...">ApproximateVoxelGrid</a> assembles a local 3D grid over a given <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, and downsamples + filters the data.  
 <a href="classpcl_1_1_approximate_voxel_grid.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="approximate__voxel__grid_8h_source.html">approximate_voxel_grid.h</a>&gt;</code></p>
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类 pcl::ApproximateVoxelGrid&lt; PointT &gt; 继承关系图:</div>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a></td></tr>
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Public 类型</h2></td></tr>
<tr class="memitem:ae85db28f1c05e432e875993b0ae6e180"><td class="memItemLeft" align="right" valign="top"><a id="ae85db28f1c05e432e875993b0ae6e180"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a010e1faa11a2d690986bfa14d78b2a33"><td class="memItemLeft" align="right" valign="top"><a id="a010e1faa11a2d690986bfa14d78b2a33"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a719a1ef5a8fc3b7f4a651a8bae51571b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a4f1d68bbc5f1f6b852b48b95e4673cfb inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a4f1d68bbc5f1f6b852b48b95e4673cfb"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a3716bd2153c17c4935c54f414ac30a74"><td class="memItemLeft" align="right" valign="top"><a id="a3716bd2153c17c4935c54f414ac30a74"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74">ApproximateVoxelGrid</a> ()</td></tr>
<tr class="memdesc:a3716bd2153c17c4935c54f414ac30a74"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a9bf297ac71552e605028a065b6caa057"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">ApproximateVoxelGrid</a> (const <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &amp;src)</td></tr>
<tr class="memdesc:a9bf297ac71552e605028a065b6caa057"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">更多...</a><br /></td></tr>
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<tr class="memitem:a2110e9946d7083b1e79621470cf0c594"><td class="memItemLeft" align="right" valign="top"><a id="a2110e9946d7083b1e79621470cf0c594"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a2110e9946d7083b1e79621470cf0c594">~ApproximateVoxelGrid</a> ()</td></tr>
<tr class="memdesc:a2110e9946d7083b1e79621470cf0c594"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a8f6c3a90a2ec8b979d833181374bdd0b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">operator=</a> (const <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &amp;src)</td></tr>
<tr class="memdesc:a8f6c3a90a2ec8b979d833181374bdd0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator.  <a href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">更多...</a><br /></td></tr>
<tr class="separator:a8f6c3a90a2ec8b979d833181374bdd0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae4e17e9af474944f7bfdc3fbd60da1d9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">setLeafSize</a> (const Eigen::Vector3f &amp;leaf_size)</td></tr>
<tr class="memdesc:ae4e17e9af474944f7bfdc3fbd60da1d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">更多...</a><br /></td></tr>
<tr class="separator:ae4e17e9af474944f7bfdc3fbd60da1d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8652def01fa6f7ebebcca2ba93297176"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">setLeafSize</a> (float lx, float ly, float lz)</td></tr>
<tr class="memdesc:a8652def01fa6f7ebebcca2ba93297176"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">更多...</a><br /></td></tr>
<tr class="separator:a8652def01fa6f7ebebcca2ba93297176"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af749fb43dc831acef36f74460c5b40f9"><td class="memItemLeft" align="right" valign="top"><a id="af749fb43dc831acef36f74460c5b40f9"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9">getLeafSize</a> () const</td></tr>
<tr class="memdesc:af749fb43dc831acef36f74460c5b40f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel grid leaf size. <br /></td></tr>
<tr class="separator:af749fb43dc831acef36f74460c5b40f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7949567adf58e2b5b1c79ce05c79c8d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">setDownsampleAllData</a> (bool downsample)</td></tr>
<tr class="memdesc:ac7949567adf58e2b5b1c79ce05c79c8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ.  <a href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">更多...</a><br /></td></tr>
<tr class="separator:ac7949567adf58e2b5b1c79ce05c79c8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1fe6fd20974c318bb2fcf7b80b2aeee"><td class="memItemLeft" align="right" valign="top"><a id="ae1fe6fd20974c318bb2fcf7b80b2aeee"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee">getDownsampleAllData</a> () const</td></tr>
<tr class="memdesc:ae1fe6fd20974c318bb2fcf7b80b2aeee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). <br /></td></tr>
<tr class="separator:ae1fe6fd20974c318bb2fcf7b80b2aeee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
<tr class="separator:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
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<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:aa58da3c39f28771c628cdbd34d3de849"><td class="memItemLeft" align="right" valign="top"><a id="aa58da3c39f28771c628cdbd34d3de849"></a>
typedef <a class="el" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::type&#160;</td><td class="memItemRight" valign="bottom"><b>FieldList</b></td></tr>
<tr class="separator:aa58da3c39f28771c628cdbd34d3de849"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a777b14cbe6856dadb57afcdc84ad9251"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a777b14cbe6856dadb57afcdc84ad9251"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsample a Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> using a voxelized grid approach  <a href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">更多...</a><br /></td></tr>
<tr class="separator:a777b14cbe6856dadb57afcdc84ad9251"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad97480e7b074ebfb12ab133cb055b880"><td class="memItemLeft" align="right" valign="top"><a id="ad97480e7b074ebfb12ab133cb055b880"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">flush</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, size_t op, <a class="el" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> *hhe, int rgba_index, int centroid_size)</td></tr>
<tr class="memdesc:ad97480e7b074ebfb12ab133cb055b880"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write a single point from the hash to the output cloud <br /></td></tr>
<tr class="separator:ad97480e7b074ebfb12ab133cb055b880"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a5727d3f9977e3201f5d5fb8b639d295d"><td class="memItemLeft" align="right" valign="top"><a id="a5727d3f9977e3201f5d5fb8b639d295d"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a></td></tr>
<tr class="memdesc:a5727d3f9977e3201f5d5fb8b639d295d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a leaf. <br /></td></tr>
<tr class="separator:a5727d3f9977e3201f5d5fb8b639d295d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0fc9ecc4b90b34964c37fd91323533de"><td class="memItemLeft" align="right" valign="top"><a id="a0fc9ecc4b90b34964c37fd91323533de"></a>
Eigen::Array3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a></td></tr>
<tr class="memdesc:a0fc9ecc4b90b34964c37fd91323533de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute 1/leaf_size_ to avoid division later <br /></td></tr>
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<tr class="memitem:a05075aad249c90710ae39458047c7400"><td class="memItemLeft" align="right" valign="top"><a id="a05075aad249c90710ae39458047c7400"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a></td></tr>
<tr class="memdesc:a05075aad249c90710ae39458047c7400"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ. <br /></td></tr>
<tr class="separator:a05075aad249c90710ae39458047c7400"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ec0980b82d20e95112d9c0525602b0c"><td class="memItemLeft" align="right" valign="top"><a id="a7ec0980b82d20e95112d9c0525602b0c"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a></td></tr>
<tr class="memdesc:a7ec0980b82d20e95112d9c0525602b0c"><td class="mdescLeft">&#160;</td><td class="mdescRight">history buffer size, power of 2 <br /></td></tr>
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struct <a class="el" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a></td></tr>
<tr class="memdesc:a5e746a51143ffff19922eb5251016811"><td class="mdescLeft">&#160;</td><td class="mdescRight">history buffer <br /></td></tr>
<tr class="separator:a5e746a51143ffff19922eb5251016811"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
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<tr class="memitem:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ad700c7ab56dc82ad8811b87e9f793751"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
<tr class="separator:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a77b899631add791703f5d615f085bede"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
<tr class="separator:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:ae689288ce4424c423d264af3af421de4"><td class="memItemLeft" align="right" valign="top"><a id="ae689288ce4424c423d264af3af421de4"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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<tr class="memitem:a1b3f92911c9209299188e17e13f7e24e"><td class="memItemLeft" align="right" valign="top"><a id="a1b3f92911c9209299188e17e13f7e24e"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:af996300b02a0938a169e6c96597f5f8c"><td class="memItemLeft" align="right" valign="top"><a id="af996300b02a0938a169e6c96597f5f8c"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::ApproximateVoxelGrid&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_approximate_voxel_grid.html" title="ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the...">ApproximateVoxelGrid</a> assembles a local 3D grid over a given <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, and downsamples + filters the data. </p>
<dl class="section author"><dt>作者</dt><dd>James Bowman, Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a9bf297ac71552e605028a065b6caa057"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9bf297ac71552e605028a065b6caa057">&#9670;&nbsp;</a></span>ApproximateVoxelGrid()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>src</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p>Copy constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>the approximate voxel grid to copy into this. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                                                             : </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <a class="code" href="classpcl_1_1_filter.html">pcl::Filter&lt;PointT&gt;</a> (),</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> (src.leaf_size_),</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> (src.inverse_leaf_size_),</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> (src.downsample_all_data_), </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a> (src.histsize_),</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> ()</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> = <span class="keyword">new</span> he[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>; i++)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i] = src.history_[i];</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a05075aad249c90710ae39458047c7400"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">pcl::ApproximateVoxelGrid::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a0fc9ecc4b90b34964c37fd91323533de"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">pcl::ApproximateVoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array3f inverse_leaf_size_</div><div class="ttdoc">Compute 1/leaf_size_ to avoid division later</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5727d3f9977e3201f5d5fb8b639d295d"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">pcl::ApproximateVoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector3f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5e746a51143ffff19922eb5251016811"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">pcl::ApproximateVoxelGrid::history_</a></div><div class="ttdeci">struct he * history_</div><div class="ttdoc">history buffer</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a7ec0980b82d20e95112d9c0525602b0c"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">pcl::ApproximateVoxelGrid::histsize_</a></div><div class="ttdeci">size_t histsize_</div><div class="ttdoc">history buffer size, power of 2</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a777b14cbe6856dadb57afcdc84ad9251"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a777b14cbe6856dadb57afcdc84ad9251">&#9670;&nbsp;</a></span>applyFilter()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Downsample a Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> using a voxelized grid approach </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">output</td><td>the resultant point cloud message </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter.html#a1f703f36f50546e950f03af2453da623">pcl::Filter&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">int</span> centroid_size = 4;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    centroid_size = boost::mpl::size&lt;FieldList&gt;::value;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    rgba_index = fields[rgba_index].offset;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    centroid_size += 3;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>; i++) </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i].count = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i].centroid = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ());   <span class="comment">// size output for worst case</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">size_t</span> op = 0;    <span class="comment">// output pointer</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size (); ++cp) </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">int</span> ix = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x * <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>[0]));</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">int</span> iy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y * <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>[1]));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">int</span> iz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z * <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>[2]));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> hash = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((ix * 7171 + iy * 3079 + iz * 4231) &amp; (<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a> - 1));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    he *hhe = &amp;<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[hash];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">if</span> (hhe-&gt;count &amp;&amp; ((ix != hhe-&gt;ix) || (iy != hhe-&gt;iy) || (iz != hhe-&gt;iz))) </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">flush</a> (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      hhe-&gt;count = 0;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      hhe-&gt;centroid.setZero ();<span class="comment">// = Eigen::VectorXf::Zero (centroid_size);</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    hhe-&gt;ix = ix;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    hhe-&gt;iy = iy;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    hhe-&gt;iz = iz;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    hhe-&gt;count++;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="comment">// Unpack the point into scratch, then accumulate</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="comment">// fill r/g/b data</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp])) + rgba_index, sizeof (RGB));</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      scratch[centroid_size-3] = rgb.r;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      scratch[centroid_size-2] = rgb.g;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      scratch[centroid_size-1] = rgb.b;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    pcl::for_each_type &lt;FieldList&gt; (xNdCopyPointEigenFunctor &lt;PointT&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp], scratch));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    hhe-&gt;centroid += scratch;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>; i++) </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    he *hhe = &amp;<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i];</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (hhe-&gt;count)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">flush</a> (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (op);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>       = 1;                    <span class="comment">// downsampling breaks the organized structure</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>     = <span class="keyword">false</span>;                 <span class="comment">// we filter out invalid points</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ad97480e7b074ebfb12ab133cb055b880"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">pcl::ApproximateVoxelGrid::flush</a></div><div class="ttdeci">void flush(PointCloud &amp;output, size_t op, he *hhe, int rgba_index, int centroid_size)</div><div class="ttdoc">Write a single point from the hash to the output cloud</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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<a id="a8f6c3a90a2ec8b979d833181374bdd0b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f6c3a90a2ec8b979d833181374bdd0b">&#9670;&nbsp;</a></span>operator=()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>&amp; <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>src</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Copy operator. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>the approximate voxel grid to copy into this. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> = src.leaf_size_;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> = src.inverse_leaf_size_;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> = src.downsample_all_data_;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a> = src.histsize_;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> = <span class="keyword">new</span> he[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>];</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>; i++)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i] = src.history_[i];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        return (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac7949567adf58e2b5b1c79ce05c79c8d">&#9670;&nbsp;</a></span>setDownsampleAllData()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setDownsampleAllData </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>downsample</em></td><td>)</td>
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<p>Set to true if all fields need to be downsampled, or false if just XYZ. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">downsample</td><td>the new value (true/false) </td></tr>
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<div class="fragment"><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;{ <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> = downsample; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae4e17e9af474944f7bfdc3fbd60da1d9">&#9670;&nbsp;</a></span>setLeafSize() <span class="overload">[1/2]</span></h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setLeafSize </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>leaf_size</em></td><td>)</td>
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<p>Set the voxel grid leaf size. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">leaf_size</td><td>the voxel grid leaf size </td></tr>
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<div class="fragment"><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      { </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> = leaf_size; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> = Eigen::Array3f::Ones () / <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8652def01fa6f7ebebcca2ba93297176">&#9670;&nbsp;</a></span>setLeafSize() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>lx</em>, </td>
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          <td class="paramname"><em>ly</em>, </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>lz</em>&#160;</td>
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          <td>)</td>
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<p>Set the voxel grid leaf size. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">lx</td><td>the leaf size for X </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ly</td><td>the leaf size for Y </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">lz</td><td>the leaf size for Z </td></tr>
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<div class="fragment"><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">setLeafSize</a> (Eigen::Vector3f (lx, ly, lz));</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ae4e17e9af474944f7bfdc3fbd60da1d9"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">pcl::ApproximateVoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector3f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:182</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="approximate__voxel__grid_8h_source.html">approximate_voxel_grid.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="approximate__voxel__grid_8hpp_source.html">approximate_voxel_grid.hpp</a></li>
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